Systems and methods for providing high flow vacuum acquisition in automated systems

Abstract

A system is disclosed for providing high flow vacuum control to an end effector of an articulated arm. The system includes a high flow vacuum source that provides an opening with an area of high flow vacuum at the end effector such that objects may be engaged while permitting substantial flow of air through the opening, and a load detection system for characterizing the load presented by the object.

What is claimed is: 
     
       1. A system for grasping and moving objects using a programmable motion device, said system comprising:
 a high vacuum source for selectively providing a first vacuum pressure with a first maximum air flow rate at an end effector of the programmable motion device, wherein the high vacuum source comprises an elector coupled to a compressor; 
 a high flow source comprising a blower for selectively providing a second vacuum pressure with a second maximum air flow rate at the end effector, the second vacuum pressure being higher than the first vacuum pressure, and the second maximum air flow rate being greater than the first maximum air flow rate; 
 a release source for selectively providing a positive pressure air flow at the end effector of the programmable motion device; 
 a passive selection system comprising a non-return valve for passively selecting between coupling the end effector to any of the ejector of the high vacuum source and the blower of the high flow source responsive to changes in air flow at the end effector of the programmable motion device; and 
 an active selection system comprising a solenoid valve for actively selecting between coupling the end effector to either the release source or the non-return valve of the passive selection system. 
 
     
     
       2. The system as claimed in  claim 1 , wherein the first vacuum pressure is at least about 90,000 Pascals below atmospheric. 
     
     
       3. The system as claimed in  claim 1 , wherein the first maximum air flow rate is no more than about 5 cubic feet per minute. 
     
     
       4. The system as claimed in  claim 1 , wherein the second vacuum pressure is no more than about 50,000 Pascals below atmospheric. 
     
     
       5. The system as claimed in  claim 1 , wherein the second vacuum pressure is no more than about 25,000 Pascals below atmospheric. 
     
     
       6. The system as claimed in  claim 1 , wherein the second maximum air flow rate is at least about 100 cubic feet per minute. 
     
     
       7. A system for grasping and moving objects using a programmable motion device, said system comprising:
 a high vacuum source for selectively providing a first vacuum pressure with a first maximum air flow rate at an end effector of the programmable motion device; 
 a release source for selectively providing a positive pressure air flow at the end effector of the programmable motion device; 
 a grasp analysis system that includes a flow monitor, a load detection device, and a controller, the flow monitor determining an air flow at the end effector while grasping an object, the load detection device being attached to the end effector and including a magnetic field sensor that senses a magnet mounted on the programmable motion device to determine a position of the load detection device responsive to movements of the end effector, and the controller communicating with the load detection device and the flow monitor to determine whether the air flow at the end effector is sufficient for continued grasping of the object; and 
 an active selection system for actively selecting between coupling the end effector to either the high vacuum source or the release source responsive to whether the air flow at the end effector of the programmable motion device is sufficient for continued grasping of the object. 
 
     
     
       8. The system as claimed in  claim 7 , wherein the first vacuum pressure is no more than about 50,000 Pascals below atmospheric. 
     
     
       9. The system as claimed in  claim 7 , wherein the first vacuum pressure is no more than about 25,000 Pascals below atmospheric. 
     
     
       10. The system as claimed in  claim 7 , wherein the first maximum air flow rate is at least about 100 cubic feet per minute. 
     
     
       11. The system as claimed in  claim 7 , wherein the system further includes a high flow source for selectively providing a second vacuum pressure with a second maximum air flow rate at the end effector, the first vacuum pressure being higher than the second vacuum pressure, and the first maximum air flow rate being greater than the second maximum air flow rate. 
     
     
       12. The system as claimed in  claim 11 , further comprising a passive selection system that passively selects between coupling the end effector to any of the high vacuum source and the high flow source responsive to the air flow at the end effector of the programmable motion device. 
     
     
       13. The system as claimed in  claim 12 , wherein the passive selection system includes an ejector and a non-return valve. 
     
     
       14. The system as claimed in  claim 13 , wherein the active selection system includes a solenoid valve coupled to the release source. 
     
     
       15. The system as claimed in  claim 11 , wherein the high vacuum source includes a compressor. 
     
     
       16. The system as claimed in  claim 11 , wherein the high flow source includes a blower. 
     
     
       17. A method of grasping and moving objects using a programmable motion device, said method comprising:
 attaching a load detection device to an end effector of a programmable motion device, wherein the load detection device includes a magnetic field sensor that senses a magnet mounted on the programmable motion device; 
 selectively providing a first vacuum pressure with a first maximum air flow rate at the end effector of the programmable motion device from a high flow source; 
 determining a position of the load detection device responsive to movements of the end effector grasping the object by sensing the magnet on the programmable motion device with the magnetic field sensor; 
 monitoring changes in an air flow at the end effector; 
 determining whether the air flow at the end effector on the object is sufficient for continued grasping of the object based on the position of the load detection device and the changes in air flow within the end effector; 
 selecting between coupling the end effector to any of the first vacuum pressure or a positive pressure responsive to whether the air flow at the end effector of the programmable motion device is sufficient for continued grasping of the object; and 
 selectively providing a positive pressure air flow at the end effector of the programmable motion device in response to determining that the air flow at the end effector of the programmable motion device is insufficient for continued grasping of the object. 
 
     
     
       18. The method as claimed in  claim 17 , wherein the first vacuum pressure is no more than about 50,000 Pascals below atmospheric. 
     
     
       19. The method as claimed in  claim 17 , wherein the first vacuum pressure is no more than about 25,000 Pascals below atmospheric. 
     
     
       20. The method as claimed in  claim 17 , wherein the first maximum air flow rate is at least about 100 cubic feet per minute. 
     
     
       21. The method as claimed in  claim 17 , wherein the method further includes selectively providing a second vacuum pressure with a second maximum air flow rate at the end effector from a high vacuum source, the first vacuum pressure being higher than the second vacuum pressure, and the first maximum air flow rate being greater than the second maximum air flow rate. 
     
     
       22. The method as claimed in  claim 21 , wherein the step of selecting further includes selecting between coupling the end effector to any of the high vacuum source and the high flow source or the release source responsive to any of the vacuum pressure or the vacuum flow at the end effector of the programmable motion device. 
     
     
       23. The method as claimed in  claim 21 , wherein the step of selectively providing the first vacuum pressure includes engaging a compressor. 
     
     
       24. The method as claimed in  claim 21 , wherein the step of selectively providing the second vacuum pressure includes engaging a blower. 
     
     
       25. The method as claimed in  claim 21 , wherein the step of selecting includes engaging an ejector and a non-return valve. 
     
     
       26. The method as claimed in  claim 25 , wherein the step of selecting includes engaging a solenoid valve coupled to a release source. 
     
     
       27. A method of grasping and moving objects using a programmable motion device, said method comprising:
 attaching a load detection device to an end effector of a programmable motion device, wherein the load detection device includes a magnetic field sensor that senses a magnet mounted on the programmable motion device; 
 passively selecting between a high vacuum source providing a first vacuum pressure with a first maximum air flow rate at the end effector of the programmable motion device and a high flow source providing a second vacuum pressure with a second maximum air flow rate at the end effector, the second vacuum pressure being higher than the first vacuum pressure, and the second maximum air flow rate being greater than the first maximum air flow rate; 
 determining a position of the load detection device responsive to movements of the end effector grasping the object by sensing the magnet on the programmable motion device with the magnetic field sensor; 
 determining an air flow at the end effector while grasping an object; and 
 actively selecting between coupling the end effector to either a positive pressure or any of the first vacuum pressure and the second vacuum pressure responsive to determining whether the air flow at the end effector on the object is sufficient for continued grasping of the object based on the position of the load detection device and the changes in air flow within the end effector. 
 
     
     
       28. The method as claimed in  claim 27 , wherein the first vacuum pressure is at least about 90,000 Pascals below atmospheric. 
     
     
       29. The method as claimed in  claim 27 , wherein the first maximum air flow rate is no more than about 5 cubic feet per minute. 
     
     
       30. The method as claimed in  claim 27 , wherein the second vacuum pressure is no more than about 50,000 Pascals below atmospheric. 
     
     
       31. The method as claimed in  claim 27 , wherein the second vacuum pressure is no more than about 25,000 Pascals below atmospheric. 
     
     
       32. The method as claimed in  claim 27 , wherein the second maximum air flow rate is at least about 100 cubic feet per minute. 
     
     
       33. The method as claimed in  claim 27 , wherein the high vacuum source provides the first vacuum pressure by engaging a compressor coupled to an elector. 
     
     
       34. The method as claimed in  claim 27 , wherein the high flow source provides the second vacuum pressure by engaging a blower. 
     
     
       35. The method as claimed in  claim 27 , wherein a non-return valve is provided for passively selecting between the high vacuum source and the high flow source. 
     
     
       36. The method as claimed in  claim 35 , wherein coupling the end effector to the positive pressure includes engaging a solenoid valve coupled to a release source.